Omron SCARA R6Y-XC Series User Manual page 3

Before using the robot
(Be sure to read the following notes.)
At this time, our thanks for your purchase of this OMRON XC series SCARA
robot.
1. Please be sure to perform the following tasks before using the robot.
Failing to perform the tasks below will require re-teaching of the robot since
the origin position cannot be set to the same previous position. Robot malfunc-
tions (vibration, noise) may also occur.
The origin position of the XC series robots is adjusted to the robot arm exten-
ded position at the factory prior to shipment, so the reference or standard coor-
dinates are temporarily set.
The customer should set the origin position before any other job. There are 2
types of origin position settings as shown below.
[1] Setting the robot arm extended position (the origin position adjusted at the
factory prior to shipment) as the origin position
(When setting the origin position with the robot arm extended, you must
check that there will not be any interference from any peripheral equip-
ment during the next absolute reset.)
[2] Setting a position OTHER than the robot arm extended position (the ori-
gin position adjusted at the factory prior to shipment) as the origin position
[1] To set the robot arm extended position (the origin position adjusted at the
factory prior to shipment) as the origin position.
Absolute Reset
The XC series robots only require the absolute reset to be performed once
when the robot is introduced.
Once the absolute reset is performed, you do not need to reperform it when
the power is turned on next time.
Set the origin position while referring to absolute reset methods in "3. Ad-
justing the origin" in Chapter 4 of this manual and in "Absolute Reset" of
the "OMRON Robot Controller User's Manual". Setting of reference coordi-
nates is not required in the above case.
CAUTION
NEVER ENTER THE ROBOT MOVEMENT RANGE ONCE THE ROBOT
SERVO IS TURNED ON AS THIS IS EXTREMELY HAZARDOUS.